Model design of a lower body humanoid robot based on PAM actuators and reinforcement learning implementation for its control

Reyero Ibáñez, Eduardo (2020). Model design of a lower body humanoid robot based on PAM actuators and reinforcement learning implementation for its control. Thesis (Master thesis), E.T.S.I. Industriales (UPM).

Description

Title: Model design of a lower body humanoid robot based on PAM actuators and reinforcement learning implementation for its control
Author/s:
  • Reyero Ibáñez, Eduardo
Contributor/s:
  • Cerro Giner, Jaime del
Item Type: Thesis (Master thesis)
Masters title: Ingeniería Industrial
Date: July 2020
Subjects:
Freetext Keywords: Lower body humanoid robot model, Pneumatic Artificial Muscles, Deep Reinforcement Learning
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The aim of this Master's Thesis is to develop the model of a humanoid robot lower body based on Pneumatic Artificial Muscles (PAM) actuators and control its movement by learning algorithms such as reinforcement learning to produce natural, smooth and accurate balancing and walking task.

More information

Item ID: 65525
DC Identifier: http://oa.upm.es/65525/
OAI Identifier: oai:oa.upm.es:65525
Deposited by: Alumno Eduardo Reyero Ibáñez
Deposited on: 06 Dec 2020 08:16
Last Modified: 06 Dec 2020 08:16
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